TW202218830A - Adaptable multifunction robotic hands - Google Patents

Abstract

Toolable modules, each having a set of functions and capabilities which are configurable to function cooperatively, to create a set of Robotic arms. Each finger of the module enables a specific task to be accomplished, providing multiple degrees of movements, enabling the Robotic arms to be deployed in highly precise applications and capable of responding to complex tasks. In coordination with an imaging system and a control system the functionality of the Robotic arms are programmable, scalable and configurable in addition to being able to communicate with the external interfaces in a predetermined protocol, thereby providing "Plug and Play" functionality.

Description

Adaptive multifunctional manipulator

The present invention relates to an apparatus and method for handling objects using a set of interconnected multifunctional robots, wherein each finger unit is designed as a replaceable tool capable of handling and performing a specific task. The robotic arm operates using a computer-controlled system with built-in artificial intelligence, allowing the device to learn and improve as it performs repetitive tasks. The present invention more particularly relates to a finger unit and palm for manipulating a multifunctional manipulator to perform basic tasks such as opening container lids or lids, peeling top lids from contact lens packages, picking and placing ophthalmic lenses or contact lenses on imaging systems A system and method for the delicate tasks of inspecting and determining the characteristics of lenses, and unloading and classifying inspected lenses according to the results of characteristic analysis. For cleaning lens receptacles with hot or cold deionized air, brushing objects or their receptacles, dispensing saline or other types of solutions at a controlled rate, the robotic arm provides additional options for a versatile system that can be used in ophthalmic lens manufacturing typical quality control process.

Some automation tasks, especially those that interact with delicate and sensitive objects, require the coordination of multiple finger units in robots equipped with end-controlled grippers. With flexible mobility and built-in capabilities for cleaning, picking and placing objects, liquid dispensing, gripping and rotating, and sanitizing, the robotic arm is ideal for operating in environments where human power is not suitable for performing a variety of tasks. Most currently disclosed techniques for attempting such tasks require multiple stages of human inspection or human intervention, and use multiple mechanical manipulators to perform tasks with a high potential for causing errors in the process. Limitations of the prior art include specialized manipulators installed on individual platforms, time-consuming reconfiguration processes before they are adopted into manufacturing or quality control processes.

Humanoid robots may be the first choice when direct interaction is required with devices or systems dedicated to interacting with humans that have the ability to communicate in local or commonly spoken languages. Without the need for and understanding of audio instructions, humanoid robots are an overkill and take up a lot of space. Furthermore, if there is no need to physically move the robot to multiple locations, a humanoid robot is not the first choice due to space constraints and safety issues.

Implementing a multifunctional manipulator is an important step towards a space-saving and efficient system for handling objects such as soft contact lenses or ophthalmic lenses. The focus in the present invention is to switch from manual manipulation of manufactured objects with non-lightweight grippers to highly lightweight robotic manipulation, where the degree of lightness is selected according to the kind of task to be performed. In particular, by designing two robotic hands with at least five finger units, contact lenses are inspected with the aid of an artificial intelligence-based intelligent imaging system and then sorted into pre-assigned bottles or containers according to their characteristic classes , exploring the design of the hand used to perform a set of tasks during quality management.

In the present invention, a pair of highly lightweight multi-fingered manipulators with one of the imaging systems is proposed, which can perform the task of unloading the contact lenses suspended in the saline solution in the blister pack, and gently peel off the covering contact lens case. Or blister-packed foil, and then after sorting the lenses into different containers based on the characteristics determined by the imaging system, the quality inspection of the contact lenses is carried out. Each finger unit in a pair of robots is dedicated to at least one single task including, but not limited to, peeling off the cover foil using a motor, unloading contact lenses from the lens case to the inspection station, emptying and cleaning the contents of the lens case objects, distribution of saline or other liquids (when required), and unloading and sorting of inspected lenses and additional tools installed in the area of the robotic palm for loosening or tightening container lids, miniature cameras for precise alignment of objects or tools, and the base on which the object to be inspected is placed.

According to a first aspect of the present invention, the multifunctional manipulator assembly includes a base structure attached to the hand structure that mounts at least five fingers. These fingers are electrically and pneumatically operably connected to the base structure and liquid distribution tubes, in known combinations, to aid in the interchangeability of the manipulator to perform different tasks.

Another aspect of the present invention refers to a pair of multifunctional robotic arms comprising a finger unit that incorporates a thumb and an index finger to grip small items such as contact lens blister packs so that another robotic arm mounted with a rotary motor can move the The motor shaft is engaged to the edge of the blister foil covering the package and the foil is peeled off using a turn. Each of these robotic fingers is controlled by a control system that is networked with the imaging system to assist in detecting, locating, and moving objects to be inspected by the imaging system. The details of the imaging system and its associated lighting modules and control systems are not discussed as it is beyond the scope of the present invention.

Another aspect of the invention refers to a multifunctional mechanical right hand that includes fingers appropriately integrated with antistatic chucks to pick up contact lenses from the lens case and move the contact lenses to a platform or base for inspection. Another robotic finger is suitably integrated with the air jet valve to jet hot or cold air or any other type of non-toxic gas for the purpose of cleaning and disinfecting the objects and object holders. Another finger, appropriately integrated with the non-static brush, can assist in cleaning, and a subsequent finger, in combination with the solution dispenser, can perform the task of dispensing the liquid. The other finger is integrated with a tiny motor that performs tasks that involve turning when needed. For example: engaging the motor shaft to the blister foil to peel it from the lens case or container.

Another aspect of the present invention refers to a set of robotic arms, each of which is assigned a special task to be replaced.

Another aspect of the present invention refers to at least one finger of a manipulator integrated with a motor having position feedback via an encoder, enabling a portion of the finger to rotate a specific angle to achieve multi-direction.

Another aspect of the present invention refers to at least one finger of a manipulator combined with an anti-static pressure sensor that enables safe handling of delicate and static-sensitive objects at different stages of the process.

Another aspect of the invention refers to a motorized or pneumatic X-Y displacement mechanism with a built-in encoder, mounted on at least one finger of a manipulator, enabling fine positioning of objects with position feedback.

Another aspect of the invention refers to a robotic device comprising a rotary motor with a built-in encoder, suitably integrated into the palm of a manipulator, and incorporating a gripping manipulator enabling it to loosen or tighten a container's nut, Bolts, caps and covers.

Another aspect of the invention refers to a pair of manipulators that are equipped with proximity sensors and appropriately positioned infrared (IR) sensors for the purpose of avoiding collisions while performing various tasks.

The present invention enables the implementation of multifunctional manipulators to manipulate objects with varying degrees of movement and increases the ability of individual fingers and hands to easily change tasks without expensive and time-consuming modifications in settings to perform delicate tasks, especially When the workplace is toxic, dirty, greasy and sensitive to static electricity.

The invention may be employed in other manufacturing applications including cell phone glass defect inspection, manufacture of accessories for coronary bypass surgery and angioplasty, sorting and binning during surgery in the operating room, warehousing and postal services.

Those skilled in the art will appreciate that arrangements of the invention are possible and therefore the particularity of the drawings should not be construed as superseding the generality of the foregoing description of the invention.

Hereinafter, a multifunctional manipulator, a replaceable manipulator unit, and a robotic device according to exemplary embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that the same reference numerals are used for the same or similar components and parts in different drawings.

As shown in FIG. 1 , each of the multifunctional manipulators 20 and 40 according to the first embodiment includes five finger units. The micromotor 25 is integrated into the little finger unit of the mechanical right hand 20 , with a replaceable shaft 30 . The second multifunctional manipulator 40 acts as a manipulator to position and place objects under the imaging system 18 . The imaging system 18 includes the camera 10 , the optical lens 12 and the lighting module 15 . The robotic hand is designed to be quickly replaceable through a snap-on polarized connector 42, as shown in the robotic left hand 40 in FIG. 1 . The dual multi-functional manipulators operate synchronously with the imaging system to perform complex tasks in different environments. Due to its hermetic seal design, the multifunctional manipulator can be used in clean rooms, toxic, hot or humid workplaces, surgical operating rooms, humanoid robots, food packaging industry, pharmaceutical and glass industries, etc.

The system and method shown in FIG. 1 is related to peeling the blister foil 65 from the contact lens case 50 without any human interaction, wherein the mechanical left hand 40 is used to grasp the object (eg, the contact lens container 50 ) and remove the It is placed under the imaging system camera 10 . The imaging system 18 detects the edge of the blister foil 65 and transmits this position to the robotic right hand 20 which moves the motor shaft 30 to engage the blister foil 65 of the blister pack 50 held by the multifunctional robotic left hand 40 .

Figure 2 is a blister-free foil covering the empty blister shell 50 of the package.

FIG. 3 is an isometric view wherein the motor shaft 30 of the motor 25 has engaged the edge of the blister foil 60 at position 65 . As previously described, the motor is suitably integrated into the little finger of the right hand of the multifunctional machine, with the aid of the imaging system 18 in FIG. 1, in precise engagement with the blister foil edge 65, and before the shaft 30 in FIG. 3 is energized , rotating in a clockwise or peeling direction while simultaneously moving the right hand of the multifunctional machine in direction 28 and peeling the blister foil from the top surface of the blister pack or housing 50 in the process.

Figure 4 shows that the process of peeling off the blister foil is partially complete, with the contact lens 70 exposed and the motor 25 at the other end of the blister pack. In the next step (not shown), the motor 25 continues to rotate the shaft 30 until the blister foil 60 is completely separated from the blister pack 50 and subsequently discarded.

5 and 5a respectively show the back and front views of the right hand of the multifunctional mechanical machine according to the first embodiment of the present invention, which includes five finger airtight sealing units, a thumb 80, a first or index finger unit 83, a second or The middle finger unit 90 , the third or ring finger unit 95 and the fourth or little finger unit 20 . The support part 98 drives the five finger units and is interconnected to the external interface via the drive part 22 . External interfaces may include humanoid robotic arms or automated manipulators, among others. Commands received at the interface are then transmitted to the support 98 to operate five finger units such as motors, air jets, brushes, solution dispensers, X&Y displacement drives, corkscrews and their respective characteristics, and to monitor a population of And the sensor in the finger to read pressure, temperature, position data. Section 22 assists in the delivery of pneumatic, electrical and bidirectional computer interfaces through a unique interlocking interface with the external control system for communication with the mechanical right hand. Appropriately designed for ease of replacement, adaptability and scalability.

The five finger units in the first embodiment of the present invention are designed with specific features such as tactile sensors, Hall effect sensors, pressure sensors and thermometers for different tasks. The robotic finger unit is also modular in design, with standardized interfaces for mechanical, electrical and pneumatic controls, allowing the robotic arm to be quickly reconfigured for different applications.

According to a first embodiment of the present invention and with reference to Figure 5a, the thumb 80 is designed with a rubber adaptor 82 in which its surface is rough but soft to enable it to grasp objects. The mechanical right index finger unit 83 is integrated on the other side with a brush 85 (FIG. 5) in addition to the rubber clamp 84 and opening 86 for dispensing solution through an electronically controlled valve (not shown) on one side to aid in cleaning and scrubbing items. The middle finger unit 90 is composed of a rubber clamp 87 and an opening 88. Clean and deionized air is blown out through an electro-pneumatic valve (not shown) to clean and dry the object. The mechanical right ring finger unit 95 is integrated with the suction cup 92 and is adapted to pick up objects from a predetermined location and place them in multiple locations. The little finger unit 20 performs multiple tasks in combination with a replaceable shaft or tool 30 and a micromotor 25. The rotary gripper 40 is integrated into the palm area of the mechanical right hand 98 and can be used to loosen or tighten screws, caps and caps on bottles or any other task that requires gripping and turning.

FIG. 6 is a side view of the mechanical right index finger unit 83 . As shown, the tip of the index finger unit incorporates a rubber pad 84 made of flexible resin, a small opening 86 for spraying a jet of fine solution through a tube 81 for cleaning purposes, and a brush 85 for brushing objects. The jet is controlled by a computer actuated valve (not shown). The fingertip of the index finger unit 83 is designed to be rotatable about the joint 82 along the axis A1 so that the brush 85 can be rotated 180 degrees from its original position.

FIG. 7 is a side view of the mechanical right middle finger unit 90 . As shown, the tip of the middle finger unit incorporates a rubber pad 87 made of flexible resin and a small opening 88 connected to an air injection valve (not shown) through a pneumatic tube 96 . Air jets can be controlled to deliver deionized hot or cold air to the object to remove any static electricity and also to clean and dry the object prior to the next process step.

FIG. 8 is a side view of the mechanical right-hand ring finger unit 95 . It uses suction cups 92 to pick up the item when it needs to be moved to another location. For example: the ring finger unit 95 can use the suction cup 92 in FIG. 8 to pick up the contact lens 70 in FIG. 4 and place it on the base 44 in FIG. 11 where the robotic left hand in FIG. 11 places itself appropriately on the Below the imaging system 18 in FIG. 1 for contact lens inspection, then presents itself to the robotic right finger unit 95 in FIG. 8 to pick up the contact lens 70 from the base 44 in FIG. Another location for a container or tray. Suction pressure is created at 92 in Figure 8 through line 89 via a computer controlled valve (not shown).

In Figure 9, a side view of the mechanical right hand little finger unit 20 shows the micromotor 25 suitably integrated into the base. Replaceable rotors or tool heads make it multitasking.

In a second embodiment of the present invention, Figure 5a shows a configurable corkscrew 40, suitably integrated into the palm area of the right hand of the multifunctional machine, which provides clockwise and counterclockwise rotational motion, combined with power And torque control allows the cap to be loosened or tightened. The bottle opener 40 is designed to accommodate different and various types of bottle cap profiles. The cap opening method is shown in Figure 10, where the cap 105 of the bottle 104 is engaged with the rotary clamp 40 in Figure 5a mounted on the right hand area 98 of the machine. This feature can be applied to any task that requires turning and incorporating a gripper to hold and rotate an object. Other applications include nut or bolt loosening or tightening, etc.

A third specific embodiment of the present invention is shown in FIG. 11 . FIG. 11 shows the configuration of the left hand of the multifunctional robot, which is mainly used for grasping and positioning objects, as shown at 40 in FIG. 1 . The palm is combined with an optional optical camera 43, allowing it to be precisely aligned and tracked when required. It can also accommodate the base 44 (Fig. 11) in the palm area to hold and present the contact lens placed by suction cup 92 in Fig. 5a of the mechanical right ring finger unit 95 in Fig. 5a for imaging system 18 in Fig. 1. test. Quality inspection features may include, but are not limited to, flaws (such as tears, bubbles, and contamination), dimensional measurements (such as diameter, lens thickness, and reflectance detection). The rubber pads at the tips of finger units 41, 46, 47, 48, and 49 may include Hall effect sensors, biometric sensors, and other optional sensors required for a particular process. The robotic right hand and the robotic left hand work in close coordination with each other's capabilities, adding capabilities that are very important in automating different processes that are not achievable with related art.

In a fourth embodiment of the present invention, a configuration that can be implemented in the glass inspection industry is described. The mechanical left-handed camera 43 in FIG. 11 cooperates with the imaging system unit 18 of the mechanical right-handed image system in FIG. 1 , and can be used to inspect the defects and dimensions of glass objects (eg, mobile phone screen or frame glass) to determine whether the glass is defective.

In a fifth embodiment of the present invention, an arrangement can be implemented in the surgical accessory manufacturing industry where accuracy and hygiene are paramount and mandatory. Accessories may include, but are not limited to, cardiothoracic devices, heart valves for precision microsurgery, and the like. After manufacture, the same set of robots can be used to implement a quality assurance process to inspect the manufactured products before sending them to customers.

In a sixth embodiment of the present invention, an arrangement may be implemented for sorting and boxing purposes in which a robot is adapted to read and interpret printed information on packages such as envelopes, boxes and containers according to a set of predetermined rules. E.g. The multifunctional manipulator can be used in the postal department and the warehousing industry to sort and pack packages according to the zip code.

A multifunctional manipulator with built-in artificial intelligence capable of reconfiguring itself without any human intervention by replacing the entire manipulator with a different configured manipulator or by replacing a specific set of robotic finger units. This feature enables the robot to expand and adapt itself as it needs to operate for a new application or to implement a modified process within the same application. The interchangeability and interoperability functions achieved through standardized interfaces (22 in Fig. 5 and Fig. 5a and 42 in Fig. 11) simplify the reconfigurability of the manipulator, enabling rapid operation under the same or different operating conditions and easy adoption into new processes, which was not possible in the prior art.

Referring to Figure 12, the flow of the method starts at 100, where the contact lenses within the blister pack are to be removed and inspected. In step 102 , the blister pack 45 of FIG. 1 is presented below the imaging system 18 of FIG. 1 to identify the package outline and locate the edges of the blister foil 65 of FIG. 1 . The position information determined in step 104 of FIG. 12 is transmitted to a computer system (not shown) in step 106, which instructs the mechanical right hand 20 of FIG. 1 to connect the motor shaft 30 of FIG. 1 with the blister of FIG. 1 The foil 65 is joined. Foil bonding is completed at step 108 . If not, the process restarts at step 106 to retry the foil bonding process. In step 110, the motor 30 of FIG. 1 begins to rotate in a clockwise direction while moving the motor assembly towards the rear end of the blister, and the blister foil 65 of FIG. 1 is peeled off in the process until it matches the The top side of the blister pack 50 is completely separated. In the next step 112 of the mechanical right hand, the blister foil is discarded and the mechanical right hand moves to the next step 114. In step 114, the imaging system commands the robotic right hand to pick up a contact lens from the blister pack 50 in FIG. 1 and place it on the base 44 in FIG. 11 for the imaging system 18 in FIG. 1 to inspect the lens. The imaging system characterizes the contact lens based on a set of rules, and in step 115 transmits the results to the robotic right hand, which then picks up the contact lens from the base. After the sorting takes place in step 117 , the multiple results are combined in step 115 and transmitted 116 . Contact lenses are picked from base 44 in FIG. 11 and placed into different containers into containers 120-124 based on the decision in step 118. It is important to note that the number of container categories may vary depending on the configuration of the quality assurance system. After discarding the empty blister in the left hand of the machine in step 119 , the process ends in step 126 .

The unique design of the multifunctional manipulator and its associated finger units enables it to realize all possible actions and movements, including grasping, holding, cleaning, brushing, metering, picking and placing, opening and closing of many types of container lids, It can be used not only in quality inspection processes, but also in processes where accuracy, reliability, consistency and hygiene are critical.

The multifunctional manipulator according to the specific embodiment of the present invention is described above, but the present invention is not limited to the above-described specific embodiment, and may include various modifications as appropriate within a range not departing from the spirit thereof.

10: Camera 12: Optical lens 15: Lighting module 18: Imaging system 20: Multifunctional manipulator; little finger unit 22: Drive Department 25: Micro Motor 28: Directions 30: Shaft 40: Multifunctional manipulator; Rotary gripper/corkscrew 41: Finger unit 42: Snap-in polarized connector 43: Camera 44: Pedestal 45: Blister Packaging 46~49: Finger unit 50: Contact Lens Case/Blister Pack 60: Blister Foil 65: Blister Foil (Edge) 70: Contact Lenses 80: Thumb 81: Tube 82: Rubber adapter; joint 83: Index finger unit 84: rubber clamp; rubber pad 85: Brushes 86: Opening 87: Rubber clamp 88: Opening 89: Tube 90: Middle finger unit 92: Sucker 95: Ring finger unit 96: Pneumatic tube 98: Support Department 100: Steps 102: Steps 104: bottle; step 105: bottle cap 106~119: Steps 120~124: Container 126: Steps

The above-described features and advantages of the present invention will become more apparent upon consideration of the following detailed description of the best mode for carrying out the invention, in conjunction with the accompanying drawings, wherein: FIG. 1 shows the configuration of the present invention according to the first specific embodiment. Figure 2 is an isometric view of a typical empty contact lens blister package. Figure 3 is an isometric view of a hermetically sealed blister pack containing a contact lens with a mechanical right hand motor shaft engaged with the edge of the blister foil. Figure 4 is an isometric view of a blister pack with the blister foil peeled away to reveal a contact lens. FIG. 5 is a perspective view of the back of the right hand of the multifunctional machine according to the first specific embodiment. Figure 5a is another perspective of the front of the right hand of the multifunctional machine (showing the palm) according to the first specific embodiment. 6 is a side view of the right index finger unit of the multifunctional mechanical machine according to the first specific embodiment. FIG. 7 is a side view of the right middle finger unit of the multifunctional mechanical machine according to the first specific embodiment. 8 is a side view of the right ring finger unit of the multifunctional mechanical right hand according to the first specific embodiment. FIG. 9 is a side view of a multifunctional mechanical right little finger unit according to the first specific embodiment. FIG. 10 is a perspective view of the right hand of the multifunctional machine according to the second specific embodiment. FIG. 11 is another view of the left hand of the multifunctional mechanical robot according to the first specific embodiment. FIG. 12 is a flow chart showing the steps of the contact lens inspection and characterization process according to the first embodiment.

10: Camera

18: Imaging system

12: Optical lens

15: Lighting module

20: Multifunctional manipulator

25: Micro Motor

30: Shaft

40: Multifunctional manipulator

42: Snap-in polarized connector

50: Contact Lens Case/Blister Pack

65: Blister Foil (Edge)

Claims (15)

A multifunctional manipulator that can be used as a tool, including: a base structure or support; it is replaceable and operably connected to an external command interface through a standardized and polarized interface; at least five replaceable finger units hermetically sealed and operably connected to the support of the manipulator through snap-on polarized connectors; Using a plurality of commands through a communication interface to manipulate the mechanical movements of the fingers to intelligently control the multifunctional manipulator; A set of sensors, such as pressure sensors, temperature sensors or displacement sensors, are selectively integrated at the tips of the robotic finger units depending on the task being performed; a thumb unit operably connected to the support to assist in grasping the object; a first or index finger unit operably connected to the support portion so as to be selectively rotatable about its vertical axis relative to the support portion; a second or middle finger unit operably connected to the support as a cleaning unit; a third or ring finger unit operably connected to the support for moving objects as a pick-and-place mechanism; a fourth or little finger unit operably connected to the support to serve as a bidirectional rotational tool; a bidirectional motor integrated with an encoder and operably mounted on the palm or support of the manipulator to perform specific tasks requiring rotation; at least five replaceable finger units operably connected to the support for selectively operating and thereby performing a plurality of tasks; the finger units are configured such that the task assigned to each finger unit thereof Independent control through multiple commands received from a standardized interface. The multifunctional manipulator as a tool as claimed in claim 1, wherein the thumb unit is properly integrated with the pressure sensor in the rubber pad to realize feedback and control of the gripping force of the object. The multifunctional manipulator as a tool of claim 1, wherein the index finger unit mounts a cleaning brush on one side of the fingertip, and mounts a rubber pad with a solution dispensing hole on the other side of the fingertip. The multifunctional manipulator as a tool of claim 1, wherein the middle finger unit functionally mounts a rubber pad at the fingertip together with a deionized air dispensing implement. The multifunctional manipulator as a tool of claim 4, wherein the rubber pad is suitably integrated with a temperature sensor to control the temperature of the air being dispensed. The multifunctional manipulator as a tool of claim 1, wherein a suction cup is functionally mounted on the ring finger unit to pick up objects from a predetermined position and place them in a different position. The multifunctional tooling manipulator of claim 1, wherein the little finger unit is functionally integrated with an encoder device coupled to a bidirectional motor to assist in removing the foil cover of the hermetically packaged to reveal its contents . The multifunctional manipulator as a tool of claim 7, wherein when engaging a workpiece, the position information of the encoder integrated into the bidirectional motor is used to initiate and terminate a predetermined operation involving bidirectional rotation. The multifunctional manipulator as claimed in claim 1, wherein the bidirectional motor operably mounted on the support of the manipulator is operably integrated with a rotary gripper, the rotary gripper being programmable Designed to dynamically apply a gripping force around the object, regardless of its diameter or profile, to perform a predetermined rotational task. A multifunctional manipulator that can be used as a tool, including: a base structure or support; it is replaceable and operably connected to an external command interface through a standardized and polarized interface; at least five replaceable finger units hermetically sealed and operably connected to the support of the manipulator through snap-on polarized connectors; Using a plurality of commands through a communication interface to manipulate the mechanical movements of the fingers to intelligently control the multifunctional manipulator; A set of sensors, such as pressure sensors, temperature sensors or displacement sensors, are selectively integrated at the tips of the robotic finger units depending on the task being performed; a thumb unit operably connected to the support to assist in grasping the object; a first or index finger unit operably connected to the support to assist in grasping the object; a second or middle finger unit operably connected to the support to assist in grasping the object; a third or ring finger unit operably connected to the support to assist in grasping the object; a fourth or little finger unit operably connected to the support to assist in grasping the object; A high-resolution camera, operably mounted on the palm or support of the robot, performs specific tasks such as positioning, aligning, and inspecting an object. The multifunctional tooling manipulator of claim 10, wherein the support portion of the manipulator includes a base operably integrated with a vacuum to hold an item in place for inspection purposes. A method of removing a sealed lid of a container held by at least two fingers of a multifunctional manipulator, the method comprising: using a smart camera mounted on the support of the manipulator to locate the position of the blister foil covering the container; moving the finger unit integrated with the motor to properly engage the blister foil; moving the finger unit to a predetermined position while energizing the motor to rotate in the direction of peeling the blister foil from the container; stopping the movement of the finger unit by reaching the predetermined position, wherein the blister foil has been completely removed, exposing the contents of the container; and The finger unit is moved to another position to discard the blister foil. The method of claim 12, wherein the container is properly placed with the aid of a pressure sensor located at the fingertip integrated in the rubber pad by means of the finger unit of the manipulator and with optimal grip. A method for engaging a container held by at least two fingers of a multifunctional manipulator to loosen or tighten a container lid, the method comprising: Use a smart camera mounted on the manipulator support to locate the container lid position; moving another multi-robot to align its rotary gripper, suitably mounted on the support, for engagement with the container lid; energizing the rotary gripper and bidirectional motor in the direction of loosening or tightening the container lid; and Reposition the container to start the next process step. The method of claim 14, wherein the rotary gripper is coupled with a bidirectional motor, and the bidirectional motor is suitably integrated with an encoder for position feedback.

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